Title page for ETD etd-06052012-163734

Type of Document Dissertation
Author Gruszka, Aleksandra
URN etd-06052012-163734
Title Some Tracking Problems for Aerospace Models with Input Constraints
Degree Doctor of Philosophy (Ph.D.)
Department Mathematics
Advisory Committee
Advisor Name Title
Malisoff, Michael Committee Chair
Lawson, Jimmie Committee Member
Litherland, Richard Committee Member
Neubrander, Frank Committee Member
Yakimov, Milen Committee Member
Marx, Brian Dean's Representative
  • control theory
  • dynamical systems
  • aerospace engineering
  • input constraints
  • robust tracking
Date of Defense 2012-04-20
Availability unrestricted
We study tracking controller design problems for key

models of planar vertical takeoff and landing (PVTOL) aircraft and

unmanned air vehicles (UAVs). The novelty of our PVTOL work is the

global boundedness of our controllers in the decoupled coordinates,

the positive uniform lower bound on the thrust controller, the

applicability of our work to cases where the velocity measurements may

not be available, the uniform global asymptotic stability and uniform

local exponential stability of our closed loop tracking dynamics, the

generality of our class of trackable reference trajectories, and the

input-to-state stability of the controller performance under actuator

errors of arbitrarily large amplitude. The significance of our UAV

results is the generality of the trackable trajectories, the

input-to-state stability properties of the tracking dynamics with

respect to additive uncertainty on the controllers, and our ability to

satisfy command amplitude and command rate constraints as well as

state dependent command constraints and a state constraint on the

velocity. Our work is based on a Matrosov approach for converting a

nonstrict Lyapunov function for the UAV tracking dynamics into a

strict one, in conjunction with asymptotic strict Lyapunov function

methods and bounded backstepping.

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